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<h1><a href="../apiOverview.htm">Regular API</a> function</h1>
<h3 class=subsectionBar><a name="simCheckIkGroup" id="simCheckIkGroup"></a>simCheckIkGroup / sim.checkIkGroup </h3>
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<td class=apiTableLeftDescr>
Description 
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<td class=apiTableRightDescr>Solves a registered IK group, but unlike the <a href="simHandleIkGroup.htm">sim.handleIkGroup</a> function, sim.checkIkGroup will not apply the calculated joint values, but instead return them in an array. See also <a href="simHandleIkGroup.htm">sim.handleIkGroup</a>, <a href="simComputeJacobian.htm">sim.computeJacobian</a> and <a href="simGenerateIkPath.htm">sim.generateIkPath</a>.<br></td>
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C synopsis
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<td class=apiTableRightCSyn>simInt simCheckIkGroup(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simFloat* jointValues,const simInt* jointOptions)</td> 
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<td class=apiTableLeftCParam>C parameters</td> 
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<div><strong>ikGroupHandle</strong>: handle of the IK group. Only IK groups that are flagged as explicitely handled will be considered as valid handles for this function. See also <a href="simGetIkGroupHandle.htm">simGetIkGroupHandle</a></div>
<div><strong>jointCnt</strong>: the number of joint handles provided in the jointHandles array.</div>
<div><strong>jointHandles</strong> (input): an array with jointCnt entries, that specifies the joint handles for the joints we wish to retrieve the values calculated by the IK.</div>
<div><strong>jointValues</strong> (output): an array with jointCnt entries, that will receive the IK calculated joint values, as specified by the jointHandles array.</div>
<div><strong>jointOptions</strong>: a bit-coded value corresponding to each specified joint handle. Can also be nullptr. Bit 0 (i.e. (1) indicates the corresponding joint is dependent of another joint.</div>
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C return value
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<div>-1 in case of an error, otherwise an <a href="../apiConstants.htm#ikCalculationResults">IK calculation result</a>.</div>
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Lua synopsis
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<td class=apiTableRightLSyn>number ikCalculationResult,table jointValues=sim.checkIkGroup(number ikGroupHandle,table jointHandles,table jointOptions=nil)</td> 
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<td class=apiTableLeftLParam>Lua parameters</td> 
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<div>Similar to the C-function counterpart</div>
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Lua return values
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<div>Similar to the C-function counterpart</div>
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